worked on the report some more

docs/figures/master_walker.xml

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docs/figures/sys_arch.xml

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docs/figures/teleoperation_overview.xml

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docs/report.latex

@@ -344,9 +344,16 @@ only inform the master about the occurrence of certain events, such as the fall
 or fall recovery, so that the master could deny requests for any activities,
 until the fall recovery is complete.
 
+\begin{figure}[h]
+  \centering
+  \includegraphics[width=0.9\linewidth]{figures/sys_arch.png}
+  \caption{Overview of the interactions in the system.}
+  \label{fig:impl_overview}
+\end{figure}
+
 We will now illustrate our architecture by using interaction between the walker
 node and the master node as an example. This interaction is depicted in the
-\autoref{fig:integration-example}. The walker node subscribes to the TF
+\autoref{fig:master-walker}. The walker node subscribes to the TF
 transform of the chest ArUco marker, and requests a position update every 0.1
 seconds. If in the current cycle the marker happens to be outside of the buffer
 zone (see \autoref{fig:joystick}), or the rotation of the marker exceeds the
@@ -375,6 +382,13 @@ walker node, and the master will be informed, that the robot has stopped
 moving. Since in this case the walker node gives up the control, the permission
 from the master doesn't matter.
 
+\begin{figure}[h]
+  \centering
+  \includegraphics[width=0.9\linewidth]{figures/master_walker.png}
+  \caption{Interaction between master and walker modules.}
+  \label{fig:master-walker}
+\end{figure}
+
 A final piece of our system is the speech-based command interface. Since in our
 system the acceptable commands vary between states, the speech recognition
 controller must be aware of the current state of the system, therefore the
@@ -384,8 +398,7 @@ server node. If a relevant word is detected, master receives the result and
 updates the state accordingly and then sends a new recognition target. If a
 state change occurred before any speech was detected, then the master sends a
 cancellation request to the speech server for the currently running objective
-and, again, sends a new target. This interaction is schematically displayed in
+and, again, sends a new target.
-\autoref{fig:master-speech}.
 
 \section{Conclusion and possible drawbacks}